MCGS-SLAM

A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping

Anonymous Author
Code and data [Available Upon Acceptance]

SLAM System Pipeline

Our method performs real-time SLAM by fusing synchronized inputs from a multi-camera rig into a unified 3D Gaussian map. It first selects keyframes and estimates depth and normal maps for each camera, then jointly optimizes poses and depths via multi-camera bundle adjustment and scale-consistent depth alignment. Refined keyframes are fused into a dense Gaussian map using differentiable rasterization, interleaved with densification and pruning. An optional offline stage further refines camera trajectories and map quality. The system supports RGB inputs, enabling accurate tracking and photorealistic reconstruction.

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Analysis of Single-Camera and Multi-Camera System

This experiment on the Waymo Open Dataset (Real World) demonstrates the effectiveness of our Multi-Camera Gaussian Splatting SLAM system. We evaluate the 3D mapping performance using three individual cameras, Front, Front-Left, and Front-Right, and compare these single-camera reconstructions against the Multi-Camera SLAM results.

The comparison highlights that the Multi-Camera SLAM leverages complementary viewpoints, providing more complete and geometrically consistent 3D reconstructions. In contrast, single-camera setups are prone to occlusions and limited fields of view, resulting in incomplete or distorted geometry. Our approach effectively fuses information from all three perspectives, achieving superior scene coverage and depth accuracy.

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156725 Zip Today

Represent a "segment" (one side of a street or a specific floor). 3. Possible Typo: Other Similar ZIP Codes

It is home to major distribution centers (like UPS ) and is near Linn Run State Park and the Idlewild & SoakZone amusement park.

Penn, PA , a small borough also in Westmoreland County. 56725: Goodridge, MN , located in Pennington County. 15672, PA Zip Code Map - Pennsylvania - MapQuest 156725 zip

If you are looking for the regional area, covers New Stanton and parts of Madison in Westmoreland County, PA. This area is a critical transportation hub where the Pennsylvania Turnpike (I-76) and I-70 intersect.

If you are looking for a "complete piece" for a specific delivery point, would be the beginning of a ZIP+4 code . The U.S. Postal Service (USPS) uses these extra four digits to narrow down a location to a specific city block, apartment group, or office building. Represent a "segment" (one side of a street

If "156725" was a typo for a different five-digit code, here are the closest matches: Clarksburg, PA , located in Indiana County.

As of the 2020 Census, the city had approximately 2,339 residents . 2. Specific Address: ZIP+4 (15672-5XXX) Penn, PA , a small borough also in Westmoreland County

Represent a "sector" (several blocks or a large building).

Analysis of Single-Camera and Multi-Camera SLAM (Tracking)

In this section, we benchmark tracking accuracy across eight driving sequences from the Waymo dataset (Real World). MCGS-SLAM achieves the lowest average ATE, significantly outperforming single-camera methods.
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We further evaluate tracking on four sequences from the Oxford Spires dataset (Real World). MCGS-SLAM consistently yields the best performance, demonstrating robust trajectory estimation in large-scale outdoor environments.
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